The incident occurred in Buner district, a remote and mountainous area in Khyber Pakhtunkhwa province.
Police officials said the bodies of two policemen were recovered in Pir Baba area, where they had arrived to escort polio workers.
Police and security forces, meanwhile, cordoned off the area and launched a manhunt to nab the culprits.
Local health officials said the anti-polio campaign, which was kicked off today to provide medicine to 35 million children in the country, would be continued across Buner district despite the attack on police team.
Militants have killed at least 64 health workers and their escorts as Pakistan suffered record 276 polio cases this year.
Polio is still endemic in Pakistan, Afghanistan and Nigeria. The World Health Organization in May imposed travel restriction on Pakistan.